CN113422486A - Double-channel magnetic suspension switch reluctance fault-tolerant motor - Google Patents
Double-channel magnetic suspension switch reluctance fault-tolerant motor Download PDFInfo
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Abstract
The invention discloses a double-channel magnetic suspension switched reluctance fault-tolerant motor which comprises an outer stator core (1), a rotor core (3) and an inner stator core (6) which are nested concentrically, wherein the inner circumferential inner wall of the outer stator core (1) is provided with inward convex main winding poles (2) at equal intervals, each main winding pole (2) is provided with a set of independent main winding (8), the inner circumferential wall and the outer circumferential wall of the rotor core (3) are respectively provided with winding-free rotor inner salient poles (5) and rotor outer salient poles (4) at equal intervals, the outer circumferential wall of the inner stator core (6) is provided with outward convex secondary winding poles (7) at equal intervals, and each secondary winding pole (7) is provided with an independent secondary winding (9); the pole arc width of the rotor external salient pole (4) is larger than that of the main winding pole (3), and the pole arc width of the rotor internal salient pole (5) is larger than that of the secondary winding pole (7). The invention can improve the reliability and fault tolerance of the motor operation.
Description
Technical Field
The invention belongs to the technical field of magnetic suspension motors, and particularly relates to a double-channel magnetic suspension switch reluctance fault-tolerant motor which can operate in double channels, decouple radial suspension force and electromagnetic torque and enhance radial suspension performance.
Background
The magnetic suspension switched reluctance motor generates controllable suspension force acting on a rotor by changing the original magnetic field distribution of the switched reluctance motor, so that the rotor is suspended in space. The switch reluctance motor can further eliminate the friction loss caused by a mechanical bearing on the basis of keeping the performance advantages of the switch reluctance motor, does not need a lubricating device, has the advantages of flexible control, simple structure, high integration degree, fault tolerance and high-speed adaptability, can be operated by high-speed and ultrahigh-speed electric/power generation, and has wide application prospect in various fields such as industry, chemical industry, biology, military industry and the like.
Along with the continuous expansion of the application field of the motor, people put forward higher requirements on the working reliability and safety of the motor. When the motor breaks down, immediate shutdown for maintenance is avoided as much as possible, and the motor is allowed to continue to work under the condition of the fault, so that time is reserved for reliable shutdown of other equipment in the system. Therefore, the fault-tolerant operation technology research of the motor has important significance for improving the system reliability.
For fault-tolerant research of a common switched reluctance motor, document 1 (li lei army, buchner. research on open-phase operation characteristics of a switched reluctance motor [ J ]. micro motor, 2005, 38 (2): 27-30.) takes the open-phase fault of the switched reluctance motor as a research object, and verifies that the common switched reluctance motor can be used by derating to maintain operation when the open-phase fault occurs by combining with experimental results. Document 2 (zhengyi, wanglie statics, detection and research of short-circuit fault of winding of switched reluctance motor [ J ]. electric transmission, 2008, 38 (11): 72-76.) theorizes and experimentally analyzes different short-circuit degrees of short-circuit fault of the winding of the motor, and obtains a conclusion that motor torque is lost due to short circuit and torque current needs to be increased to maintain normal operation of the motor.
Although the magnetic suspension switched reluctance motor inherits the excellent fault-tolerant performance of the common switched reluctance motor, the existence of the suspension force makes the fault-tolerant control of the motor complicated and is different from the common switched reluctance motor. Therefore, the original fault-tolerant control technology of the switched reluctance motor and the fault-tolerant operation technology of other magnetic suspension motors cannot be simply copied and need to be independently researched.
From published documents, researchers at home and abroad mainly concentrate on aspects such as mathematical models, motor bodies, control strategies and the like aiming at the research direction of magnetic suspension switched reluctance motors, and the research on related technologies of fault-tolerant operation is gradually receiving attention. Document 3 (dungxi, dunzhiquan, cao xin, etc.. BSRM open-phase operation control method [ J ] electrotechnical report, 2013,28(3): 140-. Document 4 (zhao lidan. fault-tolerant control of open-circuit fault of single-winding bearingless switched reluctance motor winding [ D ]. nanjing: nanjing aerospace university, 2014.) analyzes the selection principle of the compensation winding when the single-winding BSRM has the open-circuit fault of the winding, and researches a corresponding suspension force compensation control method. Document 5 (qianting, basic research on fault-tolerant operation control of short-circuit fault of a double-winding bearingless switched reluctance motor [ D ]. Nanjing: Nanjing aerospace university, 2014.) mainly aims at researching a fault-tolerant operation technology of short-circuit fault of a conventional double-winding magnetic suspension switched reluctance motor, and proposes a corresponding compensation strategy for a suspension force and torque compensation strategy of the short-circuit fault on the basis of suspension force priority. Document 6 (cao xin, qian ting, zhong heng, dun quan. fault-tolerant operation control method under short-circuit fault of suspension winding of bearingless switched reluctance motor [ J ]. report of electrical engineering, 2017, 32 (19): 32-40.) proposes a fault-tolerant operation method for compensation by using non-fault relative suspension force. All of the above studies are fault-tolerant control from the aspect of compensation strategy, and lack of research and improvement from the aspect of topology.
Disclosure of Invention
The invention aims to solve the problems in the prior art and provides a double-channel magnetic suspension switched reluctance fault-tolerant motor which can operate in double channels, decouple radial suspension force and electromagnetic torque and enhance radial suspension performance; the fault-tolerant motor integrates the switched reluctance motor, the radial self-suspension of the rotor and the fault-tolerant operation of double channels, improves the reliability and the fault tolerance of the motor operation, solves the technical problem of nonlinear strong coupling between the electromagnetic torque function and the radial self-suspension function of the rotor, and enhances the radial load capacity.
The invention aims to solve the problems by the following technical scheme:
the utility model provides a two-channel magnetic suspension switch reluctance fault-tolerant motor, includes outer stator core, rotor core, the interior stator core of concentric nestification in proper order from outside to inside, its characterized in that: the inner stator core is provided with a plurality of inner salient primary winding poles on the inner circumferential wall at equal intervals, each main winding pole is provided with a set of independent main winding, the inner and outer circumferential walls of the rotor core are respectively provided with inner rotor salient poles and outer rotor salient poles without windings at equal intervals, the outer circumferential wall of the inner stator core is provided with outer salient secondary winding poles at equal intervals, and each secondary winding pole is provided with a set of independent secondary winding; the pole arc width of the rotor external salient pole is larger than that of the main winding pole, and the pole arc width of the rotor internal salient pole is larger than that of the secondary winding pole; the structure forms an inner rotor single-winding magnetic suspension switched reluctance motor and an outer rotor single-winding magnetic suspension switched reluctance motor which share a rotor core.
The main windings which are not mutually connected are at least divided into three phases and have two phases which are simultaneously conducted, wherein one conducting phase works in the suspension excitation area to provide radial suspension force, the suspension excitation area is in the maximum phase inductance flat top area of the main winding of the conducting phase, and the other conducting phase works in the torque excitation area to provide electromagnetic torque.
In the rotating process of the rotor core, the alignment area between the main winding pole of one phase and the outer convex pole of the rotor is always equal to the area of the main winding pole, and the phase inductance of the main winding of the phase is kept to be the maximum value.
The secondary windings which are not connected with each other are standby windings which are used as main windings, and the phase number of the secondary windings is the same as that of the main windings; the fault-tolerant function is realized through a double-channel operation technology, and when the main winding cannot work normally due to faults, a power circuit for cutting off the main winding is changed into a power circuit for providing radial suspension force and torque required by the operation of the motor through the secondary winding; the secondary winding is conducted simultaneously by two phases, wherein one conducting phase works in a suspension excitation area to provide radial suspension force, the suspension excitation area is in a maximum phase inductance flat top area of the secondary winding of the conducting phase, and the other conducting phase works in a torque excitation area to provide electromagnetic torque.
In the rotating process of the rotor core, the alignment area between the secondary winding pole of one phase and the inner convex pole of the rotor is always equal to the area of the secondary winding pole, and the phase inductance of the secondary winding of the phase is kept to be the maximum value.
The pole arc width beta of the main winding polemsAnd the pole arc width beta of the rotor outer salient poleorThe relationship between them is: beta is ams<βor≤2βms(ii) a And the pole arc width beta of the secondary winding poleasAnd the pole arc width beta of salient poles in the rotorirThe relationship between them is: beta is aas<βir≤2βas。
When the main winding is switched to be switched on, the instantaneous fluctuation range of the rotating speed of the motor is 0-2%.
The pole arc width beta of the main winding polemsAnd the pole arc width beta of the rotor outer salient poleorThe relationship between them is: 1.5 betams<βor≤2βms(ii) a And the pole arc width beta of the secondary winding poleasAnd the pole arc width beta of salient poles in the rotorirThe relationship between them is: 1.5 betaas<βir≤2βas。
When the main winding is switched to be switched on, the instantaneous fluctuation range of the rotating speed of the motor is 0-2%.
Compared with the prior art, the invention has the following advantages:
according to the invention, the magnetic suspension switch reluctance motor can realize fault-tolerant operation by utilizing the inner channel and the outer channel by improving the topological structure of the motor, and essentially realizes fault-tolerant operation by the redundancy structure, so that the output performance of the motor is not influenced while the reliability of the motor is improved, and meanwhile, the control rules of the inner channel and the outer channel are the same, the transportability is strong, and the invention has innovativeness.
The fault-tolerant motor improves the fault tolerance and the reliability of system operation through double-channel operation: the secondary winding is arranged as the standby winding of the main winding, the fault-tolerant function is realized through a dual-channel operation technology, when the main winding fails and cannot work normally, the main winding can be disconnected and the secondary winding can be started, the radial suspension force and the torque required by the operation of the motor are provided by the secondary winding, and the reliable operation of the motor is ensured.
The fault-tolerant motor is structurally characterized in that the motor is radially synthesized by two single-winding magnetic suspension switched reluctance motors, a yoke part of a rotor core is shared, the structure is compact, the principle is clear, and no extra axial space is occupied; the rotor iron core is not provided with a winding, so that a magnetic flux path can be provided for a main winding current together with the outer stator iron core, and a magnetic flux path can also be provided for a secondary winding current together with the inner stator iron core; when the main winding works normally, the magnetic suspension switch reluctance motor can be regarded as an inner rotor single winding magnetic suspension switch reluctance motor; when the secondary winding works normally, the magnetic suspension switch reluctance motor can be regarded as an outer rotor single-winding magnetic suspension switch reluctance motor; the working principle is clear, the control method and the single-winding magnetic suspension switched reluctance motor have universality, and engineering technicians can conveniently understand and maintain the motor.
The fault-tolerant motor can effectively weaken the coupling of electromagnetic torque and radial suspension force and reduce the difficulty of the design of a controller: when the main winding normally works, a two-phase conduction control strategy is adopted, wherein one conduction phase works in a suspension excitation area to provide radial suspension force, the suspension excitation area is in a maximum phase inductance flat top area of the main winding of the conduction phase, and the other conduction phase works in a torque excitation area to provide electromagnetic torque; because the inductance change rate of the phase winding can influence the size of the electromagnetic torque, the larger the inductance change rate of the excitation phase of the main winding is, the larger the generated electromagnetic torque is, the phase inductance corresponding to the suspension excitation area of the main winding is kept in the maximum flat top area, and the change rate of the rotor position angle is approximately zero, so that the electromagnetic torque cannot be generated by the main winding in the suspension excitation area after excitation, the coupling of the electromagnetic torque and the radial suspension force is effectively weakened, and the difficulty of the design of a controller can be reduced; after the main winding is cut off due to faults, the secondary winding also adopts a two-phase conduction control strategy, the selection method of the suspension excitation area and the torque excitation area is the same as that of the main winding, the secondary winding of the suspension excitation area can not generate electromagnetic torque after excitation, and the coupling of the electromagnetic torque and the radial suspension force provided by the secondary winding can be effectively weakened.
The fault-tolerant motor improves the radial suspension performance by increasing the size and the stability of the radial suspension force: the phase inductance of the winding can influence the radial suspension force, and generally the larger the phase inductance is, the larger the radial suspension force generated after excitation is, and the phase inductance is in direct proportion to the alignment area between the salient poles of the stator and the rotor; therefore, the pole arc width of the rotor external salient pole is larger than that of the main winding pole by increasing the pole arc width of the rotor external salient pole, so that the aligned area of the main winding pole of one phase and the rotor outer salient pole is ensured to be equal to the area of the main winding pole all the time in the rotation process of the rotor, and the phase inductance of the main winding of the phase is kept to be the maximum value; similarly, the pole arc width of the salient pole in the rotor is made to be larger than that of the secondary winding pole by increasing the pole arc width of the salient pole in the rotor, so that the aligned area between the secondary winding pole of one phase and the salient pole in the rotor is ensured to be equal to the area of the secondary winding pole all the time in the rotation process of the rotor, and the phase inductance of the secondary winding of the phase is kept to be the maximum value; therefore, the problem that radial suspension force cannot be effectively generated when the stator and rotor poles are not aligned in the traditional magnetic suspension switched reluctance motor can be solved, the size and the stability of the radial suspension force are increased, and the radial suspension performance is improved.
Drawings
FIG. 1 is a schematic structural diagram of a two-channel magnetic suspension switch reluctance fault-tolerant motor of the invention;
wherein: 1-an outer stator core; 2-main winding pole; 3-a rotor core; 4-rotor external salient pole; 5-salient pole in rotor; 6, an inner stator iron core; 7-secondary winding pole; 8-main winding; 9-secondary winding;
FIG. 2 is a schematic diagram of the distribution of the main winding of the double-channel magnetic suspension switch reluctance fault-tolerant motor of the invention;
FIG. 3 is a schematic diagram of the secondary winding distribution of the double-channel magnetic suspension switch reluctance fault-tolerant motor of the invention;
FIG. 4 is a schematic diagram of a change curve of phase inductance of a main winding of the double-channel magnetic suspension switched reluctance fault-tolerant motor relative to a rotor position angle, and a result is obtained through two-dimensional finite element simulation;
FIG. 5 is a schematic diagram of a change curve of a secondary winding phase inductance of the double-channel magnetic suspension switched reluctance fault-tolerant motor of the invention about a rotor position angle, and a result is obtained by two-dimensional finite element simulation;
FIG. 6 is a magnetic force line distribution diagram when the main winding of the double-channel magnetic suspension switched reluctance fault-tolerant motor of the invention is excited independently and symmetrically to generate electromagnetic torque, and a result is obtained by two-dimensional finite element simulation;
FIG. 7 is a magnetic force line distribution diagram when the main winding of the double-channel magnetic suspension switched reluctance fault-tolerant motor of the invention is excited by independent asymmetric excitation to generate radial suspension force, and a result is obtained by two-dimensional finite element simulation;
FIG. 8 is a magnetic force line distribution diagram when the secondary winding of the double-channel magnetic suspension switched reluctance fault-tolerant motor of the invention is excited separately and symmetrically to generate electromagnetic torque, and a result is obtained by two-dimensional finite element simulation;
FIG. 9 is a magnetic force line distribution diagram when the secondary winding of the double-channel magnetic suspension switched reluctance fault-tolerant motor of the invention is excited independently and asymmetrically to generate radial suspension force, and a result is obtained by two-dimensional finite element simulation;
FIG. 10 is a schematic diagram of a two-phase conduction control operation interval of a main winding of the two-channel magnetic suspension switch reluctance fault-tolerant motor of the invention;
FIG. 11 is a schematic diagram of a secondary winding two-phase conduction control operation interval of the two-channel magnetic suspension switch reluctance fault-tolerant motor of the invention;
fig. 12 is a phase current curve obtained by Simplorer-Maxwell combined simulation of the dual-channel magnetically levitated switched reluctance fault-tolerant motor of the present invention, wherein fig. 12a sequentially shows phase current curves of four windings a1, a2, A3 and a4 of a phase, fig. 12B sequentially shows phase current curves of four windings B1, B2, B3 and B4 of B phase, fig. 12C sequentially shows phase current curves of four windings C1, C2, C3 and C4 of C phase, fig. 12d sequentially shows phase current curves of four windings a1, a2, A3 and a4 of a phase, fig. 12e sequentially shows phase current curves of four windings B1, B2, B3 and B4 of B phase, and fig. 12f sequentially shows phase current curves of four windings C1, C2, C3 and C4 of C phase;
FIG. 13 is a rotating speed curve of the double-channel magnetic suspension switched reluctance fault-tolerant motor of the invention obtained under Simplorer-Maxwell combined simulation.
FIG. 14 is an electromagnetic torque curve of the double-channel magnetic suspension switched reluctance fault-tolerant motor obtained under Simplorer-Maxwell combined simulation.
FIG. 15 is a suspension force curve obtained by Simplorer-Maxwell combined simulation of the double-channel magnetic suspension switched reluctance fault-tolerant motor.
Detailed Description
The invention is further described with reference to the following figures and examples.
Four salient pole structure with 12/8/8/12 poles, betaor＝2βms，βir＝2βasFor example.
Referring to fig. 1, the double-channel magnetic suspension switched reluctance fault-tolerant motor adopts a 12/8/8/12-pole four-salient-pole structure, and comprises an outer stator core 1, a main winding pole 2, a rotor core 3, a rotor outer salient pole 4, a rotor inner salient pole 5, an inner stator core 6, a secondary winding pole 7, a main winding 8 and a secondary winding 9, wherein the outer stator core 1, the rotor core 3 and the inner stator core 6 are nested together from outside to inside in a concentric manner.
Twelve main winding poles 2 are disposed on the inner wall of the outer stator core 1 at equal intervals, eight rotor outer salient poles 4 are disposed on the outer wall of the rotor core 3 at equal intervals, eight rotor inner salient poles 5 are disposed on the inner wall of the rotor core 3 at equal intervals, and twelve sub-winding poles 7 are disposed on the outer wall of the inner stator core 6 at equal intervals. The pole arcs of the main winding pole and the secondary winding pole are both 15 degrees, and the pole arcs of the rotor external salient pole and the rotor internal salient pole are both 30 degrees.
Referring to fig. 2 and fig. 3, the two-channel magnetic suspension switched reluctance fault-tolerant motor of the present invention has a schematic distribution of the primary windings and the secondary windings, wherein each primary winding pole 2 is wound with only one set of primary windings 8, the primary windings 8 are not connected in series, and four radially opposite primary windings 8 form one phase and are divided into A, B, C three phases. No winding is wound on the rotor external salient pole 4 and the rotor internal salient pole 5. Each secondary winding pole 7 is only wound with one set of secondary windings 9, the secondary windings 9 are not connected in series, and four radially opposite secondary windings 9 form one phase and are divided into three phases of a, b and c.
The rotor position angle of the rotor external salient pole 4 relative to the main winding pole 2 is defined as theta1The rotor position angle of the salient pole 5 in the rotor relative to the secondary winding pole 7 is theta2. Referring to fig. 4, the variation curve diagram of the phase inductance of the main winding of the dual-channel magnetic suspension switched reluctance fault-tolerant motor of the invention with respect to the rotor position angle shows that the inductance of the main winding 8 is along with the rotor position angle theta in the rotation process of the motor1May be varied. Since the inductance of the main winding 8 is proportional to the aligned area of the rotor external salient pole 4 and the main winding pole 2, the pole arc width β of the rotor external salient pole 4orGreater than the pole arc width beta of the main winding pole 2msIt is thus possible to have a plateau of maximum value for the phase inductance of the main winding 8. One phase inductance period is 45 degrees, and the position angle theta of the rotor is arranged at the position where the center of the rotor external salient pole 4 is superposed with the center of the A-phase main winding pole 21Is positive in the clockwise direction.
Referring to fig. 5, a schematic diagram of a change curve of a secondary winding phase inductance of the dual-channel magnetic suspension switched reluctance fault-tolerant motor of the invention with respect to a rotor position angle is shown, wherein a phase inductance period is 45 degrees, and a rotor position angle theta is formed at a position where the center of a salient pole 5 in the rotor coincides with the center of an a-phase secondary winding pole 72Is positive in the clockwise direction.
Under normal conditions, the main winding 8 provides radial suspension force and electromagnetic torque required by normal operation of the motor, at the moment, the fault-tolerant motor is equivalent to a single-winding magnetic suspension switched reluctance motor with an 12/8-pole structure, and the influences of the secondary winding 9, the inner stator iron core 6 and the rotor inner salient pole 5 can be ignored. Referring to fig. 10, the schematic diagram of the two-phase conduction control operation interval of the main winding of the two-channel magnetic suspension switched reluctance fault-tolerant motor of the present invention is shown in the operation of the motorIn the line process, a flat top area with the maximum phase inductance of the main winding 8 is used as a suspension excitation area of the phase, and radial suspension force is generated after asymmetric excitation; the phase inductance change region of the main winding 8 is used as a torque excitation region of the phase, and electromagnetic torque is generated after symmetric excitation. Taking the A-phase main winding 8 as an example, iA1And iA2The main winding current i in the positive directions of the x and y axesA3And iA4The current of the main winding is respectively in the negative directions of the x axis and the y axis. In the flat top region of the A-phase main winding 8 with the largest inductanceA1、iA2、iA3And iA4The radial force required for rotor levitation is generated by the asymmetric excitation. Specifically, iA1Generating a levitation force in the positive x-axis direction when conducting iA3Generating suspension force along the negative direction of the x axis when the LED is switched on; i.e. iA2When conducting, generating a levitation force in the positive direction of the y-axisA4Generating suspension force along the negative direction of the y axis when the LED is switched on; by controlling the suspension force in the x-axis direction and the y-axis direction, the suspension force in any direction can be synthesized, so that the radial suspension of the motor rotor is realized. Similarly, in the flat top region with the maximum inductance of the B-phase main winding 8 and the flat top region with the maximum inductance of the C-phase main winding 8, the radial force required by the rotor levitation can also be generated through the asymmetric excitation.
The conduction rule of the main winding 8 is shown in table 1, and theta is more than or equal to-22.5 degrees1In the interval of minus 7.5 degrees, the self-inductance of the B-phase main winding 8 is the maximum, so the B-phase is selected as the suspension excitation phase; theta is more than or equal to minus 7.5 degrees1In the interval of less than 7.5 degrees, the self-inductance of the A-phase main winding 8 is the largest, so the A-phase is selected as the suspension excitation phase; theta is more than or equal to 7.5 degrees1In the range of less than 22.5 degrees, the self-inductance of the C-phase main winding 8 is the largest, so the C-phase is selected as the suspension excitation phase. The torque excitation phase is selected to match the desired electromagnetic torque of the motor, and the inductance-increasing phase is selected as the torque excitation phase if positive electromagnetic torque is desired to be generated, and the inductance-decreasing phase is selected as the torque excitation phase if negative electromagnetic torque is desired to be generated. In particular, theta is more than or equal to minus 22.5 degrees1In the interval of < -7.5 degrees, the self-inductance of the A-phase main winding 8 is gradually increased and the self-inductance of the C-phase main winding 8 is gradually reduced, so when the motor expects to generate positive electromagnetic torque, the A phase is selected as a torque excitation phase, and the current of the A-phase main winding 8 is used as the current of the A-phase main winding 8Providing a positive electromagnetic torque; when the motor is expected to generate negative electromagnetic torque, the C-phase is selected as the torque excitation phase, and negative electromagnetic torque is provided by the current of the C-phase main winding 8. In the same way, theta is more than or equal to minus 7.5 degrees1In the interval of < 7.5 degrees, the self-inductance of the C-phase main winding 8 is gradually increased, and the self-inductance of the B-phase main winding 8 is gradually reduced, so when the motor expects to generate positive electromagnetic torque, the C-phase is selected as a torque excitation phase, and the positive electromagnetic torque is provided by the current of the C-phase main winding 8; when the motor is expected to generate negative electromagnetic torque, the B-phase is selected as the torque excitation phase, and negative electromagnetic torque energy is provided by the current of the B-phase main winding 8. Theta is more than or equal to 7.5 degrees1In the interval of < 22.5 degrees, the self-inductance of the B-phase main winding 8 is gradually increased and the self-inductance of the A-phase main winding 8 is gradually reduced, so when the motor expects to generate positive electromagnetic torque, the B-phase is selected as a torque excitation phase, and the positive electromagnetic torque is provided by the current of the B-phase main winding 8; when the motor is expected to generate negative electromagnetic torque, phase a is selected as the torque excitation phase, and negative electromagnetic torque is provided by the current of phase a main winding 8.
Table 1: main winding excitation interval selection rule
When the main winding 8 is cut off due to a fault, the secondary winding 9 is started to provide radial suspension force and electromagnetic torque required by the operation of the motor, and double-channel fault-tolerant operation is realized. At the moment, the fault-tolerant motor is equivalent to a single-winding outer rotor magnetic suspension switched reluctance motor with an 8/12-pole structure, and the influence of the main winding 8, the outer stator core 1 and the rotor outer salient pole 4 can be ignored. Referring to fig. 11, a schematic diagram of a secondary winding two-phase conduction control operation interval of the dual-channel magnetic suspension switched reluctance fault-tolerant motor of the present invention uses a flat top region with the maximum phase inductance of the secondary winding 9 as a suspension excitation region of the phase, and generates a radial suspension force after asymmetric excitation; the phase inductance change region of the secondary winding 9 is used as a torque excitation region of the phase, and electromagnetic torque is generated after symmetric excitation. Take the a-phase secondary winding 9 as an example, ia1And ia2Current of secondary winding, i, in positive direction of x and y axes respectivelya3And ia4The secondary winding current in the negative directions of the x axis and the y axis respectively. In the plateau region of the phase a secondary winding 9 where the inductance is greatest through ia1、ia2、ia3And ia4The radial force required for rotor levitation is generated by the asymmetric excitation. Specifically, ia1Generating a suspension force in the negative direction of the x-axis when conducting ia3Generating suspension force along the positive direction of the x axis when conducting; i.e. ia2When conducting, generating a suspension force in the negative direction of the y axis ia4Generating suspension force along the positive direction of the y axis when conducting; by controlling the suspension force in the x-axis direction and the y-axis direction, the suspension force in any direction can be synthesized, so that the radial suspension of the motor rotor is realized. Similarly, in the flat top region with the largest inductance of the b-phase secondary winding 9 and the flat top region with the largest inductance of the c-phase secondary winding 9, the radial force required for rotor levitation can also be generated through asymmetric excitation. When the main winding 8 does not work, the motor is equivalent to an outer rotor motor, so that the direction of the suspension force applied to the rotor is opposite to that of the traditional inner rotor structure.
The conduction rules for the secondary winding 9 are shown in table 2, which are the same as for the primary winding 8. Theta is more than or equal to minus 22.5 degrees2In the interval of minus 7.5 degrees, the self-inductance of the secondary winding 9 of the b phase is the maximum, so the b phase is selected as the suspension excitation phase; theta is more than or equal to minus 7.5 degrees2In the interval of less than 7.5 degrees, the self-inductance of the a-phase secondary winding 9 is the largest, so the a-phase is selected as the suspension excitation phase; theta is more than or equal to 7.5 degrees2In the range of < 22.5 degrees, the self-inductance of the c-phase secondary winding 9 is the largest, so that the c-phase is selected as the suspension excitation phase. The torque excitation phase is selected to match the desired electromagnetic torque of the motor, and the inductance-increasing phase is selected as the torque excitation phase if positive electromagnetic torque is desired to be generated, and the inductance-decreasing phase is selected as the torque excitation phase if negative electromagnetic torque is desired to be generated. In particular, theta is more than or equal to minus 22.5 degrees2In the interval < -7.5 degrees, the self-inductance of the a-phase secondary winding 9 is gradually increased and the self-inductance of the c-phase secondary winding 9 is gradually reduced, so when the motor is expected to generate positive electromagnetic torque, the a-phase is selected as a torque excitation phase, and the positive electromagnetic torque is provided by the current of the a-phase secondary winding 9; when the motor is expected to produce a negative electromagnetic torque, phase c is selected as the torque excitation phase, and the negative electromagnetic torque is provided by the current of the c-phase secondary winding 9. In the same way, theta is more than or equal to minus 7.5 degrees2Interval of < 7.5 DEGThe self-inductance of the c-phase secondary winding 9 is gradually increased and the self-inductance of the b-phase secondary winding 9 is gradually decreased, so when the motor is expected to generate positive electromagnetic torque, the c-phase is selected as a torque excitation phase, and the positive electromagnetic torque is provided by the current of the c-phase secondary winding 9; when the motor is expected to generate negative electromagnetic torque, phase b is selected as the torque excitation phase, and negative electromagnetic torque is provided by the current of the secondary winding 9 of phase b. Theta is more than or equal to 7.5 degrees2In the interval less than 22.5 degrees, the self-inductance of the b-phase secondary winding 9 is gradually increased, and the self-inductance of the a-phase secondary winding 9 is gradually reduced, so when the motor is expected to generate positive electromagnetic torque, the b-phase is selected as a torque excitation phase, and the positive electromagnetic torque is provided by the current of the b-phase secondary winding 9; when the motor is expected to generate negative electromagnetic torque, phase a is selected as the torque excitation phase, and negative electromagnetic torque is provided by the current of phase a secondary winding 9.
Table 2: selection rule of excitation interval of secondary winding
Referring to fig. 6, the magnetic force line distribution when the main winding of the dual-channel maglev switch reluctance fault-tolerant motor of the present invention is excited to generate electromagnetic torque by single symmetric excitation, when iA1～iA4When symmetrically excited, the torque of the main winding 8 is magnetically passed through the channels A1～A4The poles, air gap and rotor external salient poles 4 form a closed magnetic circuit. A. the1～A4The torque flux of the main winding 8 in the vicinity of the poles is almost the same, and the flux generated by the current of the main winding 8 does not pass through the inner stator core 6 and the sub winding 9, and less flux is distributed on the rotor inner salient pole 5. Therefore, when the main winding 8 is symmetrically excited alone to generate electromagnetic torque, the influence on the secondary winding 9, the inner stator 6 and the rotor inner salient pole 5 is negligible.
Referring to fig. 7, the magnetic force line distribution diagram when the main winding of the dual-channel magnetic suspension switched reluctance fault-tolerant motor of the invention is excited by single asymmetric excitation to generate radial suspension force is given to i independentlyA1When excited, the main winding is suspended and magnetically passed through the channels A1The pole, the air gap and the rotor external salient pole 4 flow to the rotor yoke part and then return to the A1 pole through the rotor external salient pole 4, the air gap, the main winding pole 2 and the outer stator yoke part. Except for A1The magnetic flux near the other main winding poles 2 is almost the same size outside the poles, and the magnetic flux generated by the main winding current does not pass through the inner stator core 6 and the secondary winding 9, and less magnetic flux is distributed on the rotor inner salient pole 5. Therefore, when the main winding 8 is independently excited asymmetrically to generate radial suspension force, the influence on the secondary winding 9, the inner stator 6 and the rotor inner salient pole 5 can be ignored.
Referring to fig. 8, the magnetic force line distribution diagram when the secondary winding of the dual-channel magnetic suspension switched reluctance fault-tolerant motor of the present invention is separately and symmetrically excited to generate electromagnetic torque. When i isa1～ia4When symmetrically excited, the torque of the secondary winding 9 is produced through the magnetic channel a1～a4The poles, air gap and salient poles 5 in the rotor form a closed magnetic circuit. a is1～a4The torque magnetic fluxes of the sub-windings 9 in the vicinity of the poles are almost the same, and the magnetic flux generated by the current of the sub-windings 9 does not pass through the outer stator core 1 and the main winding 8, and the torque magnetic flux of the sub-windings 9 is less distributed to the rotor outer salient poles 4. Therefore, when the secondary windings 9 are symmetrically excited alone to generate electromagnetic torque, the influence on the main windings 8, the outer stator core 1, and the rotor outer salient poles 4 is negligible.
Referring to fig. 9, the magnetic force line distribution diagram when the secondary winding of the dual-channel magnetic suspension switched reluctance fault-tolerant motor of the invention is excited by single asymmetric excitation to generate radial suspension force is given to i independentlya1During excitation, the suspension magnet passes through the channels a1The pole, air gap and rotor inner salient pole 5 flow to the rotor yoke and then return to the a1 pole by the rotor inner salient pole 5, air gap, secondary winding pole 7 and inner stator yoke. Except for a1The magnetic fluxes near the other secondary winding poles 7 outside the poles are almost the same in magnitude, and the magnetic flux generated by the excitation current does not pass through the outer stator core 1 and the main winding 8, and less magnetic flux is distributed on the rotor outer salient pole 4. Therefore, when the secondary winding 9 is excited asymmetrically alone to generate radial levitation force, the influence on the main winding 8, the outer stator core 1 and the rotor outer salient pole 4 is negligible.
It can be concluded that the flux paths of the primary winding 8 and the secondary winding 9 are independent of each other and that the coupling effect is negligible.
Referring to fig. 12, the dual-channel magnetic suspension switched reluctance fault-tolerant motor of the invention is subjected to Simplorer-Maxwell combined simulationPhase current curves obtained in the following manner, wherein a graph (12a) sequentially shows phase current curves of four windings a1, a2, A3 and a4 of a phase, a graph (12B) sequentially shows phase current curves of four windings B1, B2, B3 and B4 of a phase, a graph (12C) sequentially shows phase current curves of four windings C1, C2, C3 and C4 of a phase, a graph (12d) sequentially shows phase current curves of four windings a1, a2, A3 and a4 of a phase, a graph (12e) sequentially shows phase current curves of four windings B1, B2, B3 and B4 of B phase, and a graph (12f) sequentially shows phase currents of four windings C1, C2, C3 and C4 of C phase; starting position angle theta1＝θ2The simulated rotation initial speed is 1000rpm, the load torque is 1.4N m, the constant load is arranged in the negative direction of the y axis, and the suspension force of about 110N is required to ensure that the rotor is stabilized at the rotation center. The method is used for simulating the situation that the outer channel main winding is switched to the inner channel secondary winding to work after the outer channel main winding fails. When the simulation time is 0 to 16ms, the motor works in a normal running state, the secondary winding 9 is not conducted, and the A, B, C three-phase main winding 8 is symmetrically conducted with torque current (the torque current is about 6A) in a positive torque excitation area in turn to generate electromagnetic torque; the A2 winding, the B2B3 winding and the C1C2 winding are respectively conducted in the levitation excitation area thereof to generate levitation force along the positive direction of the radial y axis, wherein the levitation current of the A2 winding is about 4A, the levitation currents of the B2 winding and the C1 winding are about 2A, and the levitation currents of the B3 winding and the C2 winding are about 3.5A. The method of selecting the torque phase and the levitation phase is described with reference to fig. 10.
At the simulation time of 16ms, the simulation motor closes a power switch of the main winding 8 due to a fault, and is switched to operate in an inner channel, namely, the a, b and c three-phase secondary windings 9 are symmetrically electrified with torque current (the torque current is about 15A) in a positive torque excitation area in turn to generate electromagnetic torque; the a4 winding, the b1b4 winding and the C3C4 winding are respectively conducted in the levitation excitation area thereof to generate levitation force along the positive direction of the radial y axis, wherein the levitation current of the a4 winding is about 7.5A, the levitation current of the b4 winding and the C4 winding is about 6.5A, and the levitation current of the b1 winding and the C3 winding is about 3.7A.
It can be seen that: in the mode of operation of the outer channel main winding, the A, B, C three-phase main winding can be periodically conducted; the two-phase main windings are conducted at the same time at any time, and the torque current of the A, B, C three-phase main windings is the same in magnitude, so that the same electromagnetic torque can be provided; the A2 winding, the B2B3 winding and the C1C2 winding are respectively conducted in the suspension excitation area, the suspension current values are different because of the geometrical relationship of the spatial distribution of the main winding poles, and the components of the radial force generated by the suspension current of the A2 winding, the B2B3 winding and the C1C2 winding in the positive direction of the y axis are the same.
Referring to fig. 13, the two-channel magnetic suspension switched reluctance fault-tolerant motor of the present invention has a rotation speed curve obtained under simlorer-Maxwell combined simulation. At the time of simulation time 16ms, the main winding 8 is cut off due to faults, and is switched to be conducted by the secondary winding 9 according to the bidirectional conduction rule, so that the required electromagnetic torque and radial suspension force are continuously provided. It can be seen that, at the switching moment, the rotating speed of the motor fluctuates slightly, the fluctuation range is 0-2%, and then the motor rapidly recovers to the previous stable state. After the outer channel is cut off, the inner channel secondary winding is conducted, and the rotating speed of the motor can still quickly return to the original state before the fault switching.
Referring to fig. 14, the electromagnetic torque curve of the dual-channel magnetic suspension switched reluctance fault-tolerant motor is obtained under Simplorer-Maxwell combined simulation. At the moment of 16ms, the main winding 8 is cut off due to faults and is switched into the conduction of the secondary winding 9, the electromagnetic torque borne by the motor rotor falls, the maximum falling amplitude is about 20%, and the motor rotor recovers after 0.14 ms.
Referring to fig. 15, the double-channel magnetic suspension switched reluctance fault-tolerant motor of the invention obtains a suspension force curve under Simplorer-Maxwell combined simulation. At the moment of 16ms, the main winding 8 is cut off due to faults, the secondary winding 9 is switched on, the suspension force applied to the motor along the y-axis direction is reduced by 50% to the maximum within 0.06ms, and the suspension force is recovered after 0.12ms (before the suspension force is recovered, the radial auxiliary bearing provides suspension support for a short time to ensure the stability of the rotor, when the motor is assembled, the radial auxiliary bearing is additionally arranged in the prior art, so that the stability of the rotor is ensured when the active radial suspension force of the motor is lacked, but the radial auxiliary bearing is not used as a support means in normal work, and the service life is limited due to friction loss, heating, noise and vibration. Meanwhile, it can be seen that the levitation force along the x-axis direction borne by the motor is much smaller than the levitation force along the y-axis direction, so that the levitation force along the x-axis direction and the levitation force along the y-axis direction can be considered to be controlled respectively.
Fig. 14 and 15 illustrate that after the external channel is cut off, the electromagnetic torque and the levitation force can still rapidly return to the original state before the fault switching after the electromagnetic torque and the levitation force are subjected to transient fluctuation by conducting the internal channel secondary winding.
Therefore, the feasibility of the double-channel fault-tolerant operation of the motor is verified.
The invention discloses a double-channel magnetic suspension switched reluctance fault-tolerant motor which is formed by nesting an outer stator iron core 1, a rotor iron core 3 and an inner stator iron core 6 from outside to inside in a concentric manner. Wherein, the outer wall of the rotor iron core 3 is provided with a rotor external salient pole 4, and the inner wall is provided with a rotor internal salient pole 5. The secondary winding 9 is used as a spare winding of the main winding 8, under normal conditions, the main winding 8 provides radial suspension force and electromagnetic torque required by normal operation of the motor, at the moment, the fault-tolerant motor is equivalent to a single-winding magnetic suspension switched reluctance motor with an 12/8-pole structure, and the influence of the secondary winding 9, the inner stator iron core 6 and the rotor inner salient pole 5 can be ignored. When the main winding 8 is cut off due to a fault, the secondary winding 9 is started to provide radial suspension force and electromagnetic torque required by the operation of the motor, and double-channel fault-tolerant operation is realized. At the moment, the fault-tolerant motor is equivalent to a single-winding outer rotor magnetic suspension switched reluctance motor with an 8/12-pole structure, and the influence of the main winding 8, the outer stator core 1 and the rotor outer salient pole 4 can be ignored. The fault-tolerant function is realized through a double-channel operation technology, and the fault tolerance and the reliability of the operation of the whole motor system are improved.
According to the double-channel magnetic suspension switched reluctance fault-tolerant motor, the pole arc widths of the rotor outer salient pole 4 and the rotor inner salient pole 5 are increased to be respectively larger than the pole arc widths of the main winding pole 2 and the secondary winding pole 7, a flat top area of the phase maximum inductance of the main winding 8 and the secondary winding 9 is constructed, decoupling of electromagnetic torque and radial suspension force of the main winding 8 and decoupling of electromagnetic torque and radial suspension force of the secondary winding 9 are achieved, the radial suspension force provided by the main winding 8 and the secondary winding 9 is not influenced by a rotor position angle, and the radial suspension force is increased and continuity and stability of the radial suspension force are improved. The radial suspension force solves the problem of serious mechanical abrasion when the motor runs at high speed, overcomes the coupling problem between the rotation function of the rotor and the radial suspension function, creates conditions for optimizing the performance of the motor, and has unique application value in the aspects of engine systems of airplanes and automobiles and the like.
The above embodiments are only for illustrating the technical idea of the present invention, and the protection scope of the present invention cannot be limited thereby, and any modification made on the basis of the technical scheme according to the technical idea proposed by the present invention falls within the protection scope of the present invention; the technology not related to the invention can be realized by the prior art.
Claims (9)
1. The utility model provides a fault-tolerant motor of binary channels magnetic suspension switched reluctance, includes from outer to interior outer stator core (1), rotor core (3), the interior stator core (6) of concentric nestification in proper order, its characterized in that: the inner stator comprises an outer stator core (1), inner convex main winding poles (2) are arranged on the inner circumferential wall of the outer stator core (1) at equal intervals, each main winding pole (2) is provided with an independent main winding (8), inner rotor salient poles (5) without windings and outer rotor salient poles (4) are arranged on the inner circumferential wall and the outer circumferential wall of the rotor core (3) at equal intervals, outer convex secondary winding poles (7) are arranged on the outer circumferential wall of the inner stator core (6) at equal intervals, and each secondary winding pole (7) is provided with an independent secondary winding (9); the pole arc width of the rotor external salient pole (4) is larger than that of the main winding pole (3), and the pole arc width of the rotor internal salient pole (5) is larger than that of the secondary winding pole (7); the structure forms an inner rotor single-winding magnetic suspension switched reluctance motor and an outer rotor single-winding magnetic suspension switched reluctance motor which share a rotor core (3).
2. The dual-channel magnetic levitation switched reluctance fault-tolerant motor of claim 1, wherein: the main windings (8) which are not mutually connected are at least divided into three phases and have two phases which are simultaneously conducted, wherein one conducting phase works in a suspension excitation area to provide radial suspension force, the suspension excitation area is in the maximum phase inductance flat top area of the main winding (8) of the conducting phase, and the other conducting phase works in a torque excitation area to provide electromagnetic torque.
3. The dual-channel magnetic levitation switched reluctance fault-tolerant motor of claim 2, wherein: during the rotation of the rotor core (3), the alignment area between the main winding pole (2) of one phase and the rotor external salient pole (4) is equal to the area of the main winding pole (2), and the phase inductance of the main winding (8) of the phase is kept to be the maximum value.
4. The dual-channel magnetic levitation switched reluctance fault-tolerant motor of claim 1 or 2, wherein: the number of phases of the secondary windings (9) is the same as that of the main windings (8), the secondary windings (9) which are not connected with each other are at least divided into three phases and have two phases which are simultaneously conducted, one conducting phase works in a suspension excitation area to provide radial suspension force, the suspension excitation area is in the maximum phase inductance flat top area of the secondary windings (9) of the conducting phases, and the other conducting phase works in a torque excitation area to provide electromagnetic torque.
5. The dual-channel magnetic levitation switched reluctance fault-tolerant motor of claim 4, wherein: during the rotation of the rotor core (3), the alignment area between the secondary winding pole (7) of one phase and the rotor inner salient pole (5) is equal to the area of the secondary winding pole (7), and the phase inductance of the secondary winding (9) of the phase is kept to be the maximum value.
6. The dual-channel magnetic levitation switched reluctance fault-tolerant motor of claim 1, wherein: the pole arc width of the main winding pole (2)β msAnd the pole arc width of the rotor external salient pole (4)β orThe relationship between them is:β ms<β or≤2β ms(ii) a And the pole arc width of the secondary winding pole (7)β asAnd the width of the pole arc of the salient pole (5) in the rotorβ irThe relationship between them is:β as<β ir≤2β as。
7. the dual-channel magnetic levitation switched reluctance fault-tolerant motor of claim 6, wherein: when the main winding (8) is switched to be switched on by the secondary winding (9), the instantaneous fluctuation range of the rotating speed of the motor is 0-2%.
8. The dual-channel magnetic suspension switched reluctance fault-tolerant motor of claim 1 or 6, wherein: the pole arc width of the main winding pole (2)β msAnd the pole arc width of the rotor external salient pole (4)β orThe relationship between them is: 1.5β ms<β or≤2β ms(ii) a And the pole arc width of the secondary winding pole (7)β asAnd the width of the pole arc of the salient pole (5) in the rotorβ irThe relationship between them is: 1.5β as<β ir≤2β as。
9. The dual-channel magnetic levitation switched reluctance fault-tolerant motor of claim 8, wherein: when the main winding (8) is switched to be switched on by the secondary winding (9), the instantaneous fluctuation range of the rotating speed of the motor is 0-2%.
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